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[fpga/rpi-motor-control.git] / pmsm-control / rpi_mc_simple_dc.vhdl

diff --git a/pmsm-control/rpi_mc_simple_dc.vhdl b/pmsm-control/rpi_mc_simple_dc.vhdl
index d6a268680cebf1e9b490d08cec8d7ab59aee8ce5..d6aa5fe04e121aa31caabace143f32340f48114a 100644 (file)
--- a/pmsm-control/rpi_mc_simple_dc.vhdl
+++ b/pmsm-control/rpi_mc_simple_dc.vhdl
@@ -17,72 +17,72 @@ use work.util.all;
 use work.qcounter.all;
 
 entity rpi_mc_simple_dc is
 use work.qcounter.all;
 
 entity rpi_mc_simple_dc is

-       port (
-               gpio2: in std_logic; -- SDA
-               gpio3: in std_logic; -- SCL
-               gpio4: out std_logic; -- CLK
-               gpio14: in std_logic; -- Tx
-               gpio15: in std_logic; -- Rx
-               gpio17: out std_logic; -- RTS
-               gpio18: out std_logic; -- PWM0/PCMCLK
-               gpio27: out std_logic; -- SD1DAT3
-               gpio22: out std_logic; -- SD1CLK
-               gpio23: out std_logic; -- SD1CMD
-               gpio24: out std_logic; -- SD1DAT0
-               gpio10: in std_logic; -- SPI0MOSI
-               gpio9: out std_logic; -- SPI0MISO
-               gpio25: out std_logic; -- SD1DAT1
-               gpio11: in std_logic; -- SPI0SCLK
-               gpio8: in std_logic; -- SPI0CE0
-               gpio7: in std_logic; -- SPI0CE1
-               gpio5: in std_logic; -- GPCLK1
-               gpio6: in std_logic; -- GPCLK2
-               gpio12: in std_logic; -- PWM0
-               gpio13: in std_logic; -- PWM1
-               gpio19: in std_logic; -- PWM1/SPI1MISO/PCMFS
-               gpio16: in std_logic; -- SPI1CE2
-               gpio26: in std_logic; -- SD1DAT2
-               gpio20: in std_logic; -- SPI1MOSI/PCMDIN/GPCLK0
-               gpio21: in std_logic; -- SPI1SCLK/PCMDOUT/GPCLK1
-               --
-               -- PWM
-               -- Each PWM signal has cooresponding shutdown
-               pwm: out std_logic_vector (1 to 3);
-               shdn: out std_logic_vector (1 to 3);
-               -- Fault/power stage status
-               stat: in std_logic_vector (1 to 3);
-               -- HAL inputs
-               hal_in: in std_logic_vector (1 to 3);
-               -- IRC inputs
-               irc_a: in std_logic;
-               irc_b: in std_logic;
-               irc_i: in std_logic;
-               -- Power status
-               power_stat: in std_logic;
-               -- ADC for current
-               adc_miso: in std_logic;
-               adc_mosi: in std_logic;
-               adc_sclk: in std_logic;
-               adc_scs: in std_logic;
-               -- Extarnal SPI
-               ext_miso: in std_logic; --master in slave out
-               ext_mosi: in std_logic; --master out slave in
-               ext_sclk: in std_logic;
-               ext_scs0: in std_logic;
-               ext_scs1: in std_logic;
-               ext_scs2: in std_logic;
-               -- RS-485 Transceiver
-               rs485_rxd: in std_logic;
-               rs485_txd: out std_logic;
-               rs485_dir: out std_logic;
-               -- CAN Transceiver
-               can_rx: in std_logic;
-               can_tx: in std_logic;
-               -- DIP switch
-               dip_sw: in std_logic_vector (1 to 3); --na desce je prohozene cislovanni
-               -- Unused terminal to keep design tools silent
-               dummy_unused : out std_logic
-       );
+port (
+       gpio2: in std_logic; -- SDA
+       gpio3: in std_logic; -- SCL
+       gpio4: in std_logic; -- CLK
+       gpio14: in std_logic; -- Tx
+       gpio15: in std_logic; -- Rx
+       gpio17: out std_logic; -- RTS
+       gpio18: out std_logic; -- PWM0/PCMCLK
+       gpio27: out std_logic; -- SD1DAT3
+       gpio22: out std_logic; -- SD1CLK
+       gpio23: out std_logic; -- SD1CMD
+       gpio24: out std_logic; -- SD1DAT0
+       gpio10: in std_logic; -- SPI0MOSI
+       gpio9: out std_logic; -- SPI0MISO
+       gpio25: out std_logic; -- SD1DAT1
+       gpio11: in std_logic; -- SPI0SCLK
+       gpio8: in std_logic; -- SPI0CE0
+       gpio7: in std_logic; -- SPI0CE1
+       gpio5: in std_logic; -- GPCLK1
+       gpio6: in std_logic; -- GPCLK2
+       gpio12: in std_logic; -- PWM0
+       gpio13: in std_logic; -- PWM1
+       gpio19: in std_logic; -- PWM1/SPI1MISO/PCMFS
+       gpio16: in std_logic; -- SPI1CE2
+       gpio26: in std_logic; -- SD1DAT2
+       gpio20: in std_logic; -- SPI1MOSI/PCMDIN/GPCLK0
+       gpio21: in std_logic; -- SPI1SCLK/PCMDOUT/GPCLK1
+       --
+       -- PWM
+       -- Each PWM signal has cooresponding shutdown
+       pwm: out std_logic_vector (1 to 3);
+       shdn: out std_logic_vector (1 to 3);
+       -- Fault/power stage status
+       stat: in std_logic_vector (1 to 3);
+       -- HAL inputs
+       hal_in: in std_logic_vector (1 to 3);
+       -- IRC inputs
+       irc_a: in std_logic;
+       irc_b: in std_logic;
+       irc_i: in std_logic;
+       -- Power status
+       power_stat: in std_logic;
+       -- ADC for current
+       adc_miso: in std_logic;
+       adc_mosi: in std_logic;
+       adc_sclk: in std_logic;
+       adc_scs: in std_logic;
+       -- Extarnal SPI
+       ext_miso: in std_logic; --master in slave out
+       ext_mosi: in std_logic; --master out slave in
+       ext_sclk: in std_logic;
+       ext_scs0: in std_logic;
+       ext_scs1: in std_logic;
+       ext_scs2: in std_logic;
+       -- RS-485 Transceiver
+       rs485_rxd: in std_logic;
+       rs485_txd: out std_logic;
+       rs485_dir: out std_logic;
+       -- CAN Transceiver
+       can_rx: in std_logic;
+       can_tx: in std_logic;
+       -- DIP switch
+       dip_sw: in std_logic_vector (1 to 3); --na desce je prohozene cislovanni
+       -- Unused terminal to keep design tools silent
+       dummy_unused : out std_logic
+);

 end rpi_mc_simple_dc;
 
 
 end rpi_mc_simple_dc;
 
 


@@ -103,8 +103,10 @@ architecture behavioral of rpi_mc_simple_dc is
                port (A: in std_logic; Y: out std_logic);
        end component;
 
                port (A: in std_logic; Y: out std_logic);
        end component;
 

+       signal spiclk_old_lvl: std_logic :='0'; --pro detekci hrany SPI hodin

        signal pwm_in, pwm_dir_in: std_logic;
        signal spi_clk: std_logic;
        signal pwm_in, pwm_dir_in: std_logic;
        signal spi_clk: std_logic;

+       signal gpio_clk: std_logic;

        signal dat_reg : STD_LOGIC_VECTOR (7 downto 0):=(others=>'0'); --registr pro SPI
 
        --  attribute syn_noprune of gpio2 : signal is true;
        signal dat_reg : STD_LOGIC_VECTOR (7 downto 0):=(others=>'0'); --registr pro SPI
 
        --  attribute syn_noprune of gpio2 : signal is true;


@@ -114,11 +116,21 @@ architecture behavioral of rpi_mc_simple_dc is
 
 begin
        -- PLL as a reset generator
 
 begin
        -- PLL as a reset generator

+       
+       --zesileni signalu hodin SPI - bez zesileni nelze syntetizovat

        copyclk: CLKINT
        port map (
                a => gpio11,
                y => spi_clk
        );
        copyclk: CLKINT
        port map (
                a => gpio11,
                y => spi_clk
        );

+       
+       --zesileni signalu GPIO CLK
+       copyclk2: CLKINT
+       port map (
+               a => gpio4,
+               y => gpio_clk
+       );
+       

        --   pll: pll50to200
        --     port map (
        --       powerdown => '1',
        --   pll: pll50to200
        --     port map (
        --       powerdown => '1',


@@ -130,7 +142,7 @@ begin
                                            -- upon power-on
        --   clock <= clkm;
 
                                            -- upon power-on
        --   clock <= clkm;
 

-       dummy_unused <= gpio2 and gpio3  and
+       dummy_unused <= gpio2 and gpio3  and gpio4 and

                gpio5 and gpio6 and
                gpio12 and gpio13 and gpio14 and
                gpio15 and gpio16 and gpio19 and
                gpio5 and gpio6 and
                gpio12 and gpio13 and gpio14 and
                gpio15 and gpio16 and gpio19 and


@@ -163,28 +175,21 @@ begin
 
 
   
 
 
   

-       process (spi_clk) --nufunguje preo piny 11,17,27 funguje pro 4,18,22,ext_sclk,10
+       process (gpio_clk) 

        begin
                --if (gpio11'event and gpio11 = '1') then  -- rising edge of SCK
        begin
                --if (gpio11'event and gpio11 = '1') then  -- rising edge of SCK

-               if (rising_edge(spi_clk)) then 
+               if ((spi_clk = '1') and (spiclk_old_lvl = '0') ) then 

                        if (gpio7 = '0') then             -- SPI CS must be selected
                                -- shift serial data into dat_reg on each rising edge
                                -- of SCK, MSB first
                                dat_reg(7 downto 0) <= dat_reg(6 downto 0) & gpio10;
                        if (gpio7 = '0') then             -- SPI CS must be selected
                                -- shift serial data into dat_reg on each rising edge
                                -- of SCK, MSB first
                                dat_reg(7 downto 0) <= dat_reg(6 downto 0) & gpio10;

-                
-                               gpio4 <= dat_reg(7);
-                               gpio17 <= dat_reg(6);
-                               gpio18 <= dat_reg(5);
-                               gpio27 <= dat_reg(4);
-                               gpio22 <= dat_reg(3);
-                               gpio23 <= dat_reg(2);
-                               gpio24 <= dat_reg(1);
-                               gpio25 <= dat_reg(0);
+                               spiclk_old_lvl <= '1';

        
                        end if;
        
                        end if;

-               elsif (falling_edge(spi_clk)) then
+               elsif ((spi_clk = '0') and (spiclk_old_lvl = '1')) then

                        if (gpio7 = '0') then
                                gpio9 <= dat_reg(7); --zapisujeme nejdriv MSB
                        if (gpio7 = '0') then
                                gpio9 <= dat_reg(7); --zapisujeme nejdriv MSB

+                               spiclk_old_lvl <= '0';

                        end if;
                end if;
        end process;
                        end if;
                end if;
        end process;